andrey/Marlin_FB4S
Archived
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

🎨 Various multi-axis patches (#22823)

Browse Source
This commit is contained in:
Scott Lahteine
2021-09-23 10:01:37 -05:00
committed by Scott Lahteine
parent 3deb54d0fd
commit 2c30b75268
20 changed files with 174 additions and 127 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
Marlin/src/module/stepper.cpp
View File

@@ -149,8 +149,8 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
uint8_t Stepper::last_direction_bits, // = 0
Stepper::axis_did_move; // = 0
axis_bits_t Stepper::last_direction_bits, // = 0
Stepper::axis_did_move; // = 0
bool Stepper::abort_current_block;
@@ -503,17 +503,14 @@ void Stepper::set_directions() {
#if HAS_Z_DIR
SET_STEP_DIR(Z); // C
#endif
#if HAS_I_DIR
SET_STEP_DIR(I); // I
SET_STEP_DIR(I);
#endif
#if HAS_J_DIR
SET_STEP_DIR(J); // J
SET_STEP_DIR(J);
#endif
#if HAS_K_DIR
SET_STEP_DIR(K); // K
SET_STEP_DIR(K);
#endif
#if DISABLED(LIN_ADVANCE)
@@ -1635,7 +1632,7 @@ void Stepper::pulse_phase_isr() {
case 0: {
const uint8_t low = page_step_state.page[page_step_state.segment_idx],
high = page_step_state.page[page_step_state.segment_idx + 1];
uint8_t dm = last_direction_bits;
axis_bits_t dm = last_direction_bits;
PAGE_SEGMENT_UPDATE(X, low >> 4);
PAGE_SEGMENT_UPDATE(Y, low & 0xF);
@@ -2156,7 +2153,7 @@ uint32_t Stepper::block_phase_isr() {
#define Z_MOVE_TEST !!current_block->steps.c
#endif
uint8_t axis_bits = 0;
axis_bits_t axis_bits = 0;
LINEAR_AXIS_CODE(
if (X_MOVE_TEST) SBI(axis_bits, A_AXIS),
if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS),
@@ -3003,16 +3000,15 @@ void Stepper::report_positions() {
const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
ENABLE_AXIS_X();
ENABLE_AXIS_Y();
ENABLE_AXIS_Z();
ENABLE_AXIS_I();
ENABLE_AXIS_J();
ENABLE_AXIS_K();
ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z();
ENABLE_AXIS_I(); ENABLE_AXIS_J(); ENABLE_AXIS_K();
DIR_WAIT_BEFORE();
const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(), I_DIR_READ(), J_DIR_READ(), K_DIR_READ());
const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(
X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
I_DIR_READ(), J_DIR_READ(), K_DIR_READ()
);
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
#ifdef Y_DIR_WRITE